project plan project 26 magnetic levitation control

Aalto University ELEC-E8002 & ELEC-E8003 Project Work Course Year 2017

Project Plan

Project 26 Magnetic Levitation Control

Date: 25.1.2017

Max Hämäläinen Aapo Ristiluoma Oleg Stikhin Reza Hosseinzadeh Ville Niiranen

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Information Page Students Max Hämäläinen Aapo Ristiluoma Oleg Stikhin Reza Hosseinzadeh Ville Niiranen Project Manager Oleg Stikhin Official Instructor Maksim Sokolov Other Advisors F Mahafugur Rahman Hafiz Asad Ali Starting Date 5.1.2017 Approval The Instructor has accepted the final version of this document Date: 25.1.2017

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1) Background Magnetic levitation is currently under active research and it has a high number of applications. In electric motors, magnetic levitation may be used to implement active magnetic bearings and even magnetically levitated motors. In magnetic bearings, the rotating shaft is levitated with electromagnets resulting in very low friction and no mechanical wear. Another application is Maglev (derived from magnetic levitation) which is a transport method that uses magnetic levitation to move vehicles without making contact with the ground. With maglev, a vehicle travels along a guideway using magnets to create both lift and propulsion, thereby reducing friction by a great extent and allowing very high speeds. Project like this is also a good opportunity to test different kinds of tools. There is a research group who have wanted to try out SciLab and X2C which are both open-source software. SciLab can be used to develop control algorithms and X2C to implement the control to microcontroller. Using these tools in project is cost wise and might provide useful information about open-source software. The simple magnetic levitation control system proposed in this plan has similarities to the levitation control in bearings and motors. Thus, for instance, this project could be used for education and research purposes. For example, creating the control algorithms for a levitation system could be a very exciting and satisfying laboratory exercise.

2) Expected Output The expected output of the project is to build a magnetic levitation system so that a magnetic object can be levitated in a controlled manner. Stable levitation of the object is one of the main goals in the project. Another main goal is to develop control software using only open-source software such as SciLab and X2C. Project also aims to develop some kind of control system which lets the user to adjust the position of the levitated object in relation to the solenoid.

Expected users for the system will be mostly other students. The system can be used for learning purposes. Another expected user for system could be researcher working on magnetic levitation in other project like active magnetic bearings and bearingless motors for example. Developed system will be much simpler but core principles are the same. A practical demonstration of the system will be held in the final gala. The figure below illustrates the project.

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Figure 1: Sketch of the levitation system

3) Phases of Project

Activity Deadline

M1 Project plan 26.1.2017

M2 Familiarizing ourselves with the Scilab and X2C software

1.2.2017

M3 Hardware prototype ready for software development

1.3.2017

M4 A simple working control loop implemented 14.3.2017

M5 Hardware design finished 1.4.2017

M6 Software is in a presentable state 1.5.2017

M7 Final poster design 9.5.2017

M8 Final gala presentation 16.5.2017

M9 Final report 29.5.2017

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4) Work Breakdown Structure (WBS)

Functional:

❏ Provide magnetic levitation

❏ Provide control of the object

❏ Provide magnetic field

System:

❏ Software

❏ Control algorithms

❏ Xcos model

❏ Simulation

❏ User interface

❏ Operation mode selection via buttons and the potentiometer

❏ Communication

❏ Serial link with host PC

❏ Hardware

❏ Magnetic system

❏ Solenoid

❏ Hall sensor

❏ Levitated magnetic object

❏ Mechanical system

❏ Stand

❏ Project box

❏ Electrical system

❏ Microcontroller

❏ Power electronics

❏ Potentiometer

❏ Indicator LEDs

❏ Pushbuttons

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5) Work Packages and Tasks of the Project and Schedule

5.1) Work Packages

Work packages Related milestone

Responsible persons

Work estimate (700 h)

WP1 Research and Familiarization Task 1.1 Research on magnetic levitation systems Task 1.2 Getting Familiar with Scilab and Xcos softwares Task 1.3 Get familiar with the STM32 Discovery microcontroller board Task 1.4 Research on power electronic items required for solenoid control Task 1.5 Research control algorithms

M2 Everyone 100 50 10 10 10 20

WP2 Software design Task 2.1 Design a simple control algorithm Task 2.2 Implement the control algorithm using Xcos software Task 2.3 Get the X2C software to work with the microcontroller Task 2.4 Tune the control algorithm with simulated models to attain stable levitation Task 2.5 Create an algorithm with levitation height adjustment via a potentiometer Task 2.6 Combine different algorithms to one program

M4, M6 Oleg, Ville 300 80 40 10 40 80 50

WP3 Hardware design Task 3.1 Design and build the stand Task 3.2 Select the power supply system Task 3.3 Select power electronic devices appropriate for the project Task 3.4 Select the magnetic circuit items like solenoid and hall effect sensor Task 3.5 Winding the coil and assemble all electrical items Task 3.6 Build the final model

M3, M5 Aapo, Reza, Max

200 50 15 20 15 50 50

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WP4 Testing Task 4.1 Electrical measurements of the system Task 4.2 Measure the response of the Hall sensor to magnetic fields Task 4.3 Test the actual system for stability in static and dynamic modes with different height inputs

M3, M6 Aapo, Reza, Max

50 15 15 20

WP5 Presentation and documentation Task 5.1 Poster design and making a video for the final gala Task 5.2 Final gala Task 5.3 Documentation

M7, M8, M9

Everyone 100 30 30 40

5.2) Detailed Schedule

A Gantt chart presenting the detailed schedule can be found in the appendix.

6) Work Resources

6.1) Personal Availability During the Project

Table 1. Number of hours available for the project (excluding lectures and seminars) per week.

Max Aapo Ville Reza Oleg

Week 1 4 6 4 6 6

Week 2 5 6 4 6 6

Week 3 8 6 6 8 2

Week 4 8 8 8 9 8

Week 5 8 8 8 9 6

Week 6 8 8 8 9 6

Week 7 6 0 0 9 8

Week 8 8 8 8 9 7

Week 9 8 8 8 9 8

Week 10 5 8 8 9 6

Week 11 8 8 8 6 9

Week 12 8 8 8 5 7

Week 13 8 6 8 0 9

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Week 14 0 0 4 0 9

Week 15 8 8 8 9 9

Week 16 8 8 4 8 9

Week 17 8 8 8 8 9

Week 18 6 8 8 8 0

Week 19 6 8 6 6 9

Week 20 5 4 6 0 7

Week 21 2 2 2 0 3

Total 135 134 132 133 143

6.2) Personal Goals

Aapo:

I want to learn how control algorithms are actually implemented in microcontrollers, where processing power can be limited. I’m also interested to learn how to find optimal parameter values in control algorithms.

Reza:

To engage in software and hardware aspects of this project would be an excellent experience for me, since it can help me to improve my knowledge in practical electronics and open source softwares.

Ville:

I have mainly used commercial software like Matlab at school and work so it would be great see what open-source software have to offer nowadays. I also aim to learn something about programming microcontrollers.

Max:

I want to learn more about microcontrollers and programming them for a project like this. It is also interesting to see how the open-source Scilab will work since i have worked mostly with Matlab.

Oleg:

A project involving both software and hardware at the same time is something new for me, and so is being a project manager, so I’d like to learn how to both manage it and develop its different stages. Besides, I think that magnetic levitation and its possible applications e.g. in high-speed transportation is exciting so I hope to get well-acquainted with it.

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7) Cost Plan and Materials There is a budget of 500 euros for this project and it is handled by the instructor and project manager, so any parts or items required should be discussed with the project manager and after confirmation by the instructor it can be ordered.

The basic set of items has been selected and ordered by the instructor before the start of the project work.

Item/Service Estimated Cost

Electronic parts including MCU, Power Supply, sensors,etc.

~ €210

Designing and 3D printing the stand

€100

Unforeseen costs €200

Software Open-source (€0)

8) Other Resources ● The group members use their personal laptops for running Scilab and X2C

● For working on electronics and designing and building the mechanical parts, the machine hall laboratory in Otakaari 5 is used where there are soldering stations, work benches and electrical measuring equipments. For other requirements, other laboratories at the university (such as Aalto Fablab) may be used.

9) Project Management and Responsibilities

Project Manager

The responsibilities of the project manager are to take care of planning of the project work and following the progress of the project as a whole and its work packages. The project manager is also responsible for contacting the instructor and other course personnel.

Instructor

The responsibilities of the instructor are to provide sufficient working space, conditions, and tools (including ordering the required items), to provide relevant literature and materials for the scientific part of the project and technical consulting and instruction during the project work period.

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Work Package Leaders

Work Package Leader

Research and Familiarization Oleg

Software Design Ville

Hardware Design Aapo

Testing Reza

Presentation and Documentation Max

The responsibilities of the work package leaders are to supervise the schedule and quality of the work packages. They also take care that work packages have enough resources available.

10) Project Meetings

The meetings of the project group consisting of all students and the Instructor are to be held at least once in two weeks. The default agenda of the meetings, unless specified otherwise, will include selecting a person writing the memos (usually the project manager), going through the work done since the previous meeting, planning the work for the next time period, controlling the progress of the project as a whole, and selecting the time for the next meeting.

The given starting times will include the academic quarter, i.e. the meetings will start 15 minutes past the hour.

The person responsible for memos should take short notes about the discussions between members and the instructor. The same person should distribute the prepared agenda at least one day before the meeting.

The documents should be stored on the group’s shared folder on Google Drive so that they are available to all members of the project group.

11) Communication Plan For internal real-time communication and discussions within the group, WhatsApp is used. Email is used to communicate with the instructor, to send longer information packages not suitable for quick messaging, and to inform about the meetings and their agenda. All documentation, memos and other project files are stored in a common Google Drive folder, so everyone can access them at anytime. Even though a MyCourses discussion forum is provided as well, we are not going to use it in order

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to have a more efficient communication through fewer different services.

12) Risks Risk How to take in account

Microcontroller breaks down Microcontroller is handled with caution, when connecting the MCU to power care must be taken regarding its electrical specifications

Delay in delivery of the parts The parts are not ordered too late to account for delays

A group member quits Project tasks are designed to be transferable to other members

Delays or problems with the hardware If hardware problems arise, the software is developed as much as possible without access to hardware.

Problems with software-hardware compatibility

The hardware is tested as early as possible to discover possible compatibility issues

13) Quality Plan The project manager is the main person responsible for quality. He oversees the quality of the project as a whole, while the work package leaders control the quality of their packages more specifically, and report their observations to the project manager. The quality is to be checked against this project plan. The quality of the work done, and any problems or flaws should be controlled and discussed during the project meetings. The instructor also plays an important role in controlling the quality by providing minimum quality requirements and ensuring that they are fulfilled. Any member of the group noticing a problem or a flaw should immediately inform the group about it. Unless an obvious or easy fix is possible, the group meetings should discuss which actions should be taken in order to fix the problem and thus improve the quality of the work.

14) Changing This Plan

Any members of the group can ask for change in the project plan. The proposed change is then discussed in the following meeting with the whole group. The change is implemented if the group agrees that the change is needed.

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All possible changes will be documented in this plan. Documentation includes the date of the change and describes the change itself. If someone is absent from a meeting, other group members will inform him about the changes. He can then go to the Google docs and check the updated documents.

Changes in the schedule are handled the same way. All members of the group must agree with the new schedule so that deadlines are met.

15) Measures for Successful Project The final outcome of the project is evaluated by different metrics:

- How well the project controls the levitating steel ball. A still ball with absolutely no movement is the ideal outcome. Realistically the ball will exhibit some vibration and instability.

- The implemented control modes and algorithms - Knowledge and experience which were gained through using open source softwares such as

Scilab and X2C in developing the control algorithms - How polished the finished project looks

The project process is evaluated based on meeting the deadlines which are set in this project plan and also on the outcome quality of each project phase. After reaching a milestone the process and used resources should be documented in the final report, so this way the final report is mostly prepared during the project. The quality of the deliverables of this project, software and hardware, should be measured using predefined testing methods and following this testing phase they should be documented in the final report as well.

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Appendix: Gantt chart

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project plan project 26 magnetic levitation control

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